initial commit

2022-08-05 08:23:25 +03:00
commit 5ecdc6abcf
387 changed files with 3010095 additions and 0 deletions
--- a/config/uzhfpv_indoor/estimator_config.yaml
+++ b/config/uzhfpv_indoor/estimator_config.yaml
@@ -0,0 +1,116 @@
+%YAML:1.0 # need to specify the file type at the top!
+
+verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT
+
+use_fej: true # if we should use first-estimate Jacobians (enable for good consistency)
+use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it
+use_rk4int: true # if rk4 integration should be used (overrides imu averaging)
+
+use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints
+max_cameras: 2
+
+calib_cam_extrinsics: false
+calib_cam_intrinsics: true
+calib_cam_timeoffset: true
+
+max_clones: 11
+max_slam: 50
+max_slam_in_update: 25
+max_msckf_in_update: 30
+dt_slam_delay: 2
+
+gravity_mag: 9.81
+
+feat_rep_msckf: "GLOBAL_3D"
+feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH"
+feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"
+
+# zero velocity update parameters we can use
+# we support either IMU-based or disparity detection.
+try_zupt: true
+zupt_chi2_multipler: 0 # set to 0 for only disp-based
+zupt_max_velocity: 0.5
+zupt_noise_multiplier: 20
+zupt_max_disparity: 0.5 # set to 0 for only imu-based
+zupt_only_at_beginning: false
+
+# ==================================================================
+# ==================================================================
+
+init_window_time: 2.0
+init_imu_thresh: 0.0
+init_max_disparity: 1.5
+init_max_features: 25
+
+init_dyn_mle_opt_calib: false
+init_dyn_mle_max_iter: 50
+init_dyn_mle_max_time: 0.05
+init_dyn_mle_max_threads: 6
+init_dyn_num_pose: 6
+init_dyn_min_deg: 20.0
+
+init_dyn_inflation_ori: 10
+init_dyn_inflation_vel: 100
+init_dyn_inflation_bg: 10
+init_dyn_inflation_ba: 100
+init_dyn_min_rec_cond: 1e-20
+
+init_dyn_bias_g: [0.0, 0.0, 0.0]
+init_dyn_bias_a: [0.0, 0.0, 0.0]
+
+# ==================================================================
+# ==================================================================
+
+record_timing_information: false
+record_timing_filepath: "/tmp/traj_timing.txt"
+
+save_total_state: false
+filepath_est: "/tmp/ov_estimate.txt"
+filepath_std: "/tmp/ov_estimate_std.txt"
+filepath_gt: "/tmp/ov_groundtruth.txt"
+
+# ==================================================================
+# ==================================================================
+
+# our front-end feature tracking parameters
+# we have a KLT and descriptor based (KLT is better implemented...)
+use_klt: true
+num_pts: 100
+fast_threshold: 65
+grid_x: 20
+grid_y: 20
+min_px_dist: 15
+knn_ratio: 0.70
+track_frequency: 31.0
+downsample_cameras: false
+multi_threading: true
+histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE
+
+# aruco tag tracker for the system
+# DICT_6X6_1000 from https://chev.me/arucogen/
+use_aruco: false
+num_aruco: 1024
+downsize_aruco: true
+
+# ==================================================================
+# ==================================================================
+
+# camera noises and chi-squared threshold multipliers
+up_msckf_sigma_px: 2
+up_msckf_chi2_multipler: 1
+up_slam_sigma_px: 2
+up_slam_chi2_multipler: 1
+up_aruco_sigma_px: 1
+up_aruco_chi2_multipler: 1
+
+# masks for our images
+use_mask: false
+
+# imu and camera spacial-temporal
+# imu config should also have the correct noise values
+relative_config_imu: "kalibr_imu_chain.yaml"
+relative_config_imucam: "kalibr_imucam_chain.yaml"
+
+
+
+
--- a/config/uzhfpv_indoor/kalibr_imu_chain.yaml
+++ b/config/uzhfpv_indoor/kalibr_imu_chain.yaml
@@ -0,0 +1,20 @@
+%YAML:1.0 # need to specify the file type at the top!
+
+imu0:
+  T_i_b:
+    - [1.0, 0.0, 0.0, 0.0]
+    - [0.0, 1.0, 0.0, 0.0]
+    - [0.0, 0.0, 1.0, 0.0]
+    - [0.0, 0.0, 0.0, 1.0]
+  accelerometer_noise_density: 2.0000e-3  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
+  accelerometer_random_walk: 3.0000e-3    # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
+  gyroscope_noise_density: 1.6968e-04     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
+  gyroscope_random_walk: 1.9393e-05       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
+#  accelerometer_noise_density: 0.1   # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
+#  accelerometer_random_walk: 0.002   # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
+#  gyroscope_noise_density: 0.05      # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
+#  gyroscope_random_walk: 4.0e-05     # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
+  model: calibrated
+  rostopic: /snappy_imu
+  time_offset: 0.0
+  update_rate: 200.0
--- a/config/uzhfpv_indoor/kalibr_imucam_chain.yaml
+++ b/config/uzhfpv_indoor/kalibr_imucam_chain.yaml
@@ -0,0 +1,37 @@
+%YAML:1.0 # need to specify the file type at the top!
+
+cam0:
+  T_cam_imu:
+    - [-0.028228787368606456, -0.999601488301944, 1.2175294828553618e-05, 0.02172388268966517]
+    - [0.014401251861751119, -0.00041887083271471837, -0.9998962088597202, -6.605455433829172e-05]
+    - [0.999497743623523, -0.028225682131089447, 0.014407337010089172, -0.00048817563004522853]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [1]
+  camera_model: pinhole
+  distortion_coeffs: [-0.013721808247486035, 0.020727425669427896, -0.012786476702685545,
+                      0.0025242267320687625]
+  distortion_model: equidistant
+  intrinsics: [278.66723066149086, 278.48991409740296, 319.75221200593535, 241.96858910358173]
+  resolution: [640, 480]
+  rostopic: /snappy_cam/stereo_l
+  timeshift_cam_imu: -0.016684572091862235
+cam1:
+  T_cam_imu:
+    - [-0.011823057800830705, -0.9998701444077991, -0.010950325390841398, -0.057904961033265645]
+    - [0.011552991631909482, 0.01081376681432078, -0.9998747875767439, 0.00043766687615362694]
+    - [0.9998633625093938, -0.011948086424720228, 0.011423639621249038, -0.00039944945687402214]
+    - [0.0, 0.0, 0.0, 1.0]
+  T_cn_cnm1:
+    - [0.9998053017199788, 0.011197738450911484, 0.01624713224548414, -0.07961594300469246]
+    - [-0.011147758116324, 0.9999328574031386, -0.0031635699090552883, 0.0007443452072558462]
+    - [-0.016281466199246444, 0.00298183486707869, 0.9998630018753686, 0.0004425529195268342]
+    - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0]
+  camera_model: pinhole
+  distortion_coeffs: [-0.008456929295619607, 0.011407590938612062, -0.006951788325762078,
+                      0.0015368127092821786]
+  distortion_model: equidistant
+  intrinsics: [277.61640629770613, 277.63749695723294, 314.8944703346039, 236.04310050462587]
+  resolution: [640, 480]
+  rostopic: /snappy_cam/stereo_r
+  timeshift_cam_imu: -0.016591431247074982